2026-Rebuilt

Code Base for FRC Team 6413's 2026 Rebuilt Robot Code

Code Etiquette

USEFUL comments on EVERYTHING (Commands, Constants, etc)

NEVER merge code into the main or dev branches that you know does not work!

Organize files properly in corresponding folders

Follow naming conventions (reference section below)

No hardcoded values, add them to Constants

Create Issues on Github for EVERY branch

• Add a description of what the branch should accomplish
• 'Assignees': used to indicate who is working on what
• 'Labels': used to organize issues, add as necessary
• 'Development': link the branch to the issue

LOG OUT when finished for the day if using an FSI computer

• Use the deactivate_ssh_key script to remove your SSH key from active use.
• Log out of Slack, GitHub, Google, and anything else

Beta Numbers

• first number = issue #
• second number = # of commits
• third number = functionality (0 = works as intended, 1 = WIP, 2 = doesn't work)

For example, on the branch associated with issue 7, with 18 commits, which is still in development should look like: "7.18.1"

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Branch Organization

Branch names MUST be all lower case with spaces turned into hyphens

• Ex: feat#69-shooter-interpolation, not feat#69-ShooterInterpolation

main:

• Competition-ready code
• ONLY receives merges from dev
• Do NOT make branches off of main

dev:

• Make ALL branches off of this branch!!
• Code on dev should always be runnable.
• Only merge to main after tested and cleaned
  • Explanatory comments
  • Code is fully functional

feat#[Issue#]-[name]:

• Used for new features on the robot or updates to existing code
  • Ex: feat#40-arm or feat#68-mechanism-button-bindings
  • Only contains what the branch is named
    • Ex: No climber code in a shooter branch
• Gets merged to dev when code is tested and clean (see "dev" for "tested and clean" standards)

bugfix#[Issue#]-[name]:

• Used for bug fixing of a feature from dev

chore#[Issue#]-[name]:

• Used for cleaning code from dev
• Should NOT be necessary if you always follow our coding etiquette and standards

Naming Conventions

• Folder names are all lowercase and underscores instead of spaces
  • Ex: subsystems or commands\zero_commands
• File and Java Class names are in Pascal Case: the first letter of every word is capitalized and no spaces between words.
  • Ex: RobotContainer.java or public class RobotContainer
• Constants are in all caps with underscores between words
  • Ex: public static final ELEVATOR_MAX_CURRENT = 5.0
• Functions and variables are in camelCase: lowercase first word, capitalize first letter of all subsequent words, no spaces between words
  • Ex: public void updateModeChange()

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Folder/File Organization

• Root level files
  • Constants.java
    • Constants shared by all subsystems, related to the robot
    • Ex: controller port numbers, battery voltage, alliance (red/blue), etc.
  • Main.java
    • Runs Robot
  • Robot.java
    • Initializes robot, starts logging data, runs periodic/auto/simulation modes
  • RobotContainer.java
    • Creates all subsystems, runs commands, and logs data
• commands
  • All commands the robot can perform
  • Ex: scoring XXX, intaking game pice from a specific location, reseting all subsystems to their "zero" positions, etc
• subsystems
  • Ex: arm, drive, vision, etc.
  • [subsystem]
    • [Subsystem.java]: main class for subsystem, runs commands depending on passed in IO (sim or real), extends SubsystemBase
    • [Subsystem]IO.java: interface for inputs and methods
    • [Subsystem]IOSim.java: simulation code for subsystem, implements [Subsystem]IO
    • [Subsystem]IO[Motor].java: real code for subsystem, implements [Subsystem]IO

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Getting started on any FSI laptop

Before you can use any Git commands or do any coding on an FSI latpop you MUST run the activate_ssh_key script with your first name. For example, if John wanted to code she would simply open a new Command Prompt on the laptop and type:

C:\User\FSIUser> activate_ssh_key John

John would then be prompted to enter his SSH passphrase in order to confirm to the SSH Agent that the key he is the SSH keys owner. Once done John's SSH key would be in use, Git would be configured to reflect he is the person making all changes and he would be put into her own home directory on the laptop (e.g. C:\FSIUser\john_doe).

If there was a problem with the SSH key activation process, the script will output an error message telling you what went wrong and what to do next.

We recommend that you clone the GitHub repo into its own folder in your personal folder on the laptop. The repo can be in the users home directory (e.g. C:\FSIUser\john_doe\2026-Rebuilt) or in a folder under the home directory (e.g. C:\FSIUser\john_doe\repos\2026-Rebuilt)

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Useful Git Bash Commands

• git status
  • Shows you essential information about the current state of your branch. Use this to see what unsaved changes there are and other info about your branch.
• git add .
  • Stages all changed files in preparation for commit and push. Use git status before you do this to ensure you only commit the changs you expect and want.
• git add Robot.java
  • Stages the changed Robot.java file in preparation for commit and push. Useful for committing only some changed files in the same commit action.
• git commit -m "[Insert Message Here]"
  • Saves your code changes locally with a msg of what was done to the code. Your message should be brief and informative, NOT snarky or unhelpful.
• git push
  • Pushes any local saved changes to the cloud
• git fetch
  • Pulls down any changes to your branch from the cloud. Use this before you use git push to avoid possible merge problems. If changes are pulled down then you should use git merge to merge them into your code before you do anything else.
• git pull
  • Pulls down any changes to your branch from the cloud and merges them into your local code.
  • git pull does a git fetch followed by a git merge
• git pull origin dev
  • Pulls changes from the dev branch in the cloud repository
• git merge (origin) Dev
  • Pulls ALL changes from dev (no rebases)
• git checkout [branch name]
  • Changes git to use your specified branch for all changes
• git checkout -b [branch name]
  • Creates new branch off of current branch. You SHOULD only be doing this when currently on the dev branch and you just did a git pull!
• git branch
  • Shows all branches that have been pulled to the local repo
• git branch --all
  • Shows all branches since last fetch